[DO NOT MERGE] Integration: PR backlog

README.md

@@ -137,6 +137,8 @@ git clone https://github.com/rai-opensource/spatialmath-python.git
 cd spatialmath-python
 pip install -e .
 # Optional: if you would like to contribute and commit code changes to the repository,
+# install the development tools (including pre-commit) and set up the git hooks
+# pip install -e .[dev]
 # pre-commit install
 ```
 

pyproject.toml

@@ -40,7 +40,6 @@ dependencies = [
     "matplotlib",
     "ansitable",
     "typing_extensions>=4.0.0",
-    "pre-commit",
 ]
 
 [project.urls]
@@ -52,6 +51,7 @@ dependencies = [
 [project.optional-dependencies]
 
 dev = [
+    "pre-commit",
     "sympy",
     "pytest",
     "pytest-timeout",

spatialmath/base/__init__.py

@@ -42,6 +42,7 @@
     "plot_cone": "graphics",
     "plot_cuboid": "graphics",
     "axes_logic": "graphics",
+    "set_window_title": "graphics",
     "plotvol2": "graphics",
     "plotvol3": "graphics",
     "expand_dims": "graphics",
@@ -391,6 +392,7 @@ def __getattr__(name):
     "plot_cone",
     "plot_cuboid",
     "axes_logic",
+    "set_window_title",
     "expand_dims",
     "isnotebook",
     # spatial.base.numeric

spatialmath/base/argcheck.py

@@ -16,10 +16,10 @@
 from collections.abc import Iterable
 
 # from spatialmath.base import symbolic as sym # HACK
-from spatialmath.base.symbolic import issymbol, symtype
+from spatialmath.base.symbolic import issymbol
 
 # valid scalar types
-_scalartypes = (int, np.integer, float, np.floating) + symtype
+_scalartypes = (int, np.integer, float, np.floating)
 
 # from typing import Union, List, Tuple, Any, Optional, Type, Callable
 # from numpy.typing import DTypeLike
@@ -47,7 +47,9 @@ def isscalar(x: Any) -> bool:
         >>> isscalar([1])
 
     """
-    return isinstance(x, _scalartypes)
+    return isinstance(x, _scalartypes) or (
+        not isinstance(x, (list, tuple)) and issymbol(x)
+    )
 
 
 def isinteger(x: Any) -> bool:
@@ -386,7 +388,7 @@ def getvector(
     """
     dt = dtype
 
-    if isinstance(v, _scalartypes):  # handle scalar case
+    if isscalar(v):  # handle scalar case
         v = [v]  # type: ignore
     if isinstance(v, (list, tuple)):
         # list or tuple was passed in
@@ -501,7 +503,7 @@ def isvector(v: Any, dim: Optional[int] = None) -> bool:
     if (
         isinstance(v, (list, tuple))
         and (dim is None or len(v) == dim)
-        and all(map(lambda x: isinstance(x, _scalartypes), v))
+        and all(map(isscalar, v))
     ):
         return True  # list or tuple
 
@@ -516,7 +518,7 @@ def isvector(v: Any, dim: Optional[int] = None) -> bool:
         else:
             return s == (dim,) or s == (1, dim) or s == (dim, 1)
 
-    if (dim is None or dim == 1) and isinstance(v, _scalartypes):
+    if (dim is None or dim == 1) and isscalar(v):
         return True
 
     return False
@@ -620,11 +622,7 @@ def isnumberlist(x: Any) -> bool:
         >>> isnumberlist(np.r_[1,2])
     """
 
-    return (
-        isinstance(x, (list, tuple))
-        and len(x) > 0
-        and all(map(lambda x: isinstance(x, _scalartypes), x))
-    )
+    return isinstance(x, (list, tuple)) and len(x) > 0 and all(map(isscalar, x))
 
 
 def isvectorlist(x: Any, n: int) -> bool:

spatialmath/base/graphics.py

@@ -1580,6 +1580,7 @@ def axes_logic(
         """
 
         # print(f"new axis logic ({dimensions}D): ", end='')
+        use_current_figure = False
         if ax is None:
             # no axes passed in, find out what's happening
             # need to be careful to not use gcf() or gca() since they
@@ -1597,6 +1598,10 @@ def axes_logic(
                     # print(f"ax has {_axes_dimensions(ax)} dimensions")
                     if _axes_dimensions(ax) == dimensions and not new:
                         return ax
+                elif not new:
+                    # the current figure is empty, eg. from a bare plt.figure():
+                    # put the axes in it rather than leave it empty and make another
+                    use_current_figure = True
             # otherwise it doesnt exist or dimension mismatch, create new axes
         else:
             # print("ax given", ax)
@@ -1607,7 +1612,8 @@ def axes_logic(
                 return ax
             # print("mismatch in dimensions, create new axes")
         # print("create new axes")
-        plt.figure()
+        if not use_current_figure:
+            plt.figure()
         if dimensions == 2:
             ax = plt.axes()
             if autoscale:
@@ -1759,11 +1765,18 @@ def expand_dims(dim: ArrayLike = None, nd: int = 2) -> NDArray:
             * A -> [-A, A, -A, A, -A, A]
             * [A,B] -> [A, B, A, B, A, B]
             * [A,B,C,D,E,F] -> [A, B, C, D, E, F]
+
+        A scalar is symmetric about zero, so its sign is ignored: ``-A`` is the
+        same as ``A``.  For the other forms the values are returned as given and
+        no ordering check is made.  If a minimum is greater than the
+        corresponding maximum, matplotlib will invert that axis when the limits
+        are applied, which is a convenient way to flip an axis direction.
         """
         dim = smb.getvector(dim)
 
         if nd == 2:
             if len(dim) == 1:
+                dim = abs(dim)
                 return np.r_[-dim, dim, -dim, dim]
             elif len(dim) == 2:
                 return np.r_[dim[0], dim[1], dim[0], dim[1]]
@@ -1773,6 +1786,7 @@ def expand_dims(dim: ArrayLike = None, nd: int = 2) -> NDArray:
                 raise ValueError("bad dimension specified")
         elif nd == 3:
             if len(dim) == 1:
+                dim = abs(dim)
                 return np.r_[-dim, dim, -dim, dim, -dim, dim]
             elif len(dim) == 2:
                 return np.r_[dim[0], dim[1], dim[0], dim[1], dim[0], dim[1]]
@@ -1783,6 +1797,37 @@ def expand_dims(dim: ArrayLike = None, nd: int = 2) -> NDArray:
         else:
             raise ValueError("nd is 2 or 3")
 
+    def set_window_title(fig: plt.Figure, title: str) -> bool:
+        """
+        Set the title of the window containing a figure, if it has one
+
+        :param fig: the figure
+        :type fig: Figure
+        :param title: the window title
+        :type title: str
+        :return: True if the title was set
+        :rtype: bool
+
+        A figure has a window only if it is managed by pyplot and the backend
+        provides one.  A figure on a headless backend such as ``Agg``, or one
+        created directly with ``matplotlib.figure.Figure``, does not, and then
+        nothing is done and False is returned.
+
+        Example::
+
+            >>> from spatialmath.base import plotvol2, set_window_title
+            >>> ax = plotvol2(5)
+            >>> set_window_title(ax.figure, "my plot")
+
+        .. note:: The title of the window is not the title of the axes, see
+            :meth:`matplotlib.axes.Axes.set_title`.
+        """
+        manager = getattr(fig.canvas, "manager", None)
+        if manager is not None and hasattr(manager, "set_window_title"):
+            manager.set_window_title(title)
+            return True
+        return False
+
     def isnotebook() -> bool:
         """
         Determine if code is being run from a Jupyter notebook
@@ -1849,3 +1894,6 @@ def plot_cone(*args, **kwargs) -> None:
 
     def plot_cylinder(*args, **kwargs) -> None:
         raise NotImplementedError("Matplotlib is not installed: pip install matplotlib")
+
+    def set_window_title(*args, **kwargs) -> None:
+        raise NotImplementedError("Matplotlib is not installed: pip install matplotlib")